\section*{\large Launcher description}
\begin{normalsize}

You will find three launchers:
\begin{itemize}
\item robovie\_x\_lab3\_main.launch for all the necessary:

\footnotesize
\begin{verbatim}
<launch>

	<arg name="model" default="$(find robovie_x_model)/xacro/robot.xacro"/>
	<arg name="gui" default="true"/>
	
	<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>
	<param name="use_gui" value="$(arg gui)"/>
	
	<node name="joint_state_publisher" pkg="robovie_x_teleoperation" type="joint_state_publisher"/>
        
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robovie_x_model)/urdf.rviz">
	</node>

	<node name="filtering" pkg="robovie_x_lab3" output="screen" type="filtering">
	</node>

	<node name="robovie_controller" pkg="robovie_x_controller" type="robovie_controller" output="screen">
	</node>

	<arg name="rate" default="30"/>
	
	<arg name="depth_resolution_low" default="true"/>
	<arg name="depth_resolution_mid" default="false"/>
	<arg name="depth_resolution_high" default="false"/>

	<param name="frame_id" value="camera_rgb_optical_frame"/>	

	<include file="$(find openni_launch)/launch/openni.launch"/>
	<!-- NITE Skeletal Tracker -->
	<node pkg="nite2tf" type="OpenNITracker" name="OpenNITracker"  output="screen"/>

</launch>
\end{verbatim}
\normalsize

\item robovie\_x\_lab3\_main.launch for debugging without Kinect and controller;
\item robovie\_x\_lab3\_main.launch for for the controller.
\end{itemize}

\end{normalsize}